| 摘要: |
| 在遥控焊接中,存在焊接电源和焊接电弧产生的高频干扰,对力觉临场感遥控焊接信号传输造成强干扰。针对遥控焊接中高频干扰源及其传播途径,设计抗干扰遥控焊接信号传输网络,提出了遥控焊接长信号线布线原则,对从手力觉信号采用神经网络滤波法去除干扰噪声。通过采取上述抗干扰措施,使遥控焊接控制信号传输可靠,力觉临场感真实,焊接操作者能通过力觉临场感对遥控焊接进行准确遥操作。 |
| 关键词: 遥控焊接 信号传输 抗干扰 力觉临场感 神经网络滤波 |
| DOI： |
| 分类号: |
| 基金项目:国家"十.五"计划项目(41318512) |
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| The anti-interference technology of the signal transmission of force telepresence remote welding |
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LIU Li-jun, WU Lin
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State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China
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| Abstract: |
| The high-frequency produced by welding arc and welding power exists in remote welding.It strongly interferes with the transmitted signal of force telepresence remote welding.In this paper,aiming at the high-frequency interference source and its spreading ways in remote welding,the signal transmission network of remote welding with anti-interference capability was designed,the wiring principle of the long signal wire in remote welding was brought forward,and neural network was adopted to filter the interferences in the force signals gathered from the slavery robot.By adopting the anti-interference measures,the control signal transmission became reliable in remote welding,the force telepresence became real,the welding operator could correctly teleoperate the remote welding process by force telepresence. |
| Key words: remote welding signal transmission anti-interference force telepresence neural network filter |
